US9041326B2 - Method for operating a brushless electric motor - Google Patents

Method for operating a brushless electric motor Download PDF

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Publication number
US9041326B2
US9041326B2 US13/634,039 US201113634039A US9041326B2 US 9041326 B2 US9041326 B2 US 9041326B2 US 201113634039 A US201113634039 A US 201113634039A US 9041326 B2 US9041326 B2 US 9041326B2
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Prior art keywords
switch
windings
switched
electric motor
sectors
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US13/634,039
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US20130193885A1 (en
Inventor
Christian Gunselmann
Mathias Fernengel
Nicolas Bruyant
Lionel Guichard
Michel Parette
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Aumovio Germany GmbH
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Continental Automotive Technologies GmbH
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Assigned to CONTINENTAL AUTOMOTIVE GMBH reassignment CONTINENTAL AUTOMOTIVE GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GUNSELMANN, CHRISTIAN, DR., FERNENGEL, MATHIAS, BRUYANT, NICOLAS, DR., GUICHARD, LIONEL, PARETTE, MICHEL
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • H02P29/022—
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/40—Testing power supplies
    • G01R31/42—AC power supplies
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H02M1/325—Means for protecting converters other than automatic disconnection with means for allowing continuous operation despite a fault, i.e. fault tolerant converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Definitions

  • the present invention relates to a method for operating a brushless electric motor, the windings of which are actuated by an inverter by means of six switches, wherein an identification unit is provided for identifying defective switches, a unit is provided for voltage measurement at the outputs of the inverter and a microcontroller is provided for controlling the switches and for generating a pulse-width-modulated power supply for the windings.
  • Inverters for actuating brushless motors generally consist of six switches. After a defect, each switch can have in principle two different characteristics: switched off, that is to say blocked in the open switch position, or switched on, that is to say blocked in the closed switch position.
  • a defectively switched-on switch is also commonly referred to as a short circuit.
  • a defectively switched-on switch causes a torque in the electric motor counter to the direction of operation of the electric motor. In particular in safety-relevant applications, it is then important to continue to operate the electric motor in an emergency mode.
  • the problem addressed by the present invention is therefore to provide a method for operating a brushless electric motor in which the effects of a defective switch are at least partially compensated.
  • an actuation period of the electric motor is subdivided into a plurality of sectors, wherein, depending on the defective switch, individual sectors for actuating the windings are deactivated, while the other sectors are used to actuate the windings.
  • the actuation period is subdivided into twelve sectors, wherein each sector corresponds to 30°.
  • a further advantageous development provides that the windings are actuated in those sectors in which the defectively switched-on switch is also closed in the normal mode.
  • the switches are combined into switch pairs and it is provided that a switch pair is no longer actuated when a switch of a switch pair is defectively switched on.
  • the electric motor is switched off after a previously defined time period or once a safe external state is present.
  • FIG. 1 shows a schematic outline illustration of the windings of a brushless electric motor and an inverter on which the method according to the invention can be carried out;
  • FIG. 2 shows a graph with measurement values for clarifying the effects of a defectively switched-on switch
  • FIG. 3 shows a schematic diagram of an actuation period of the electric motor
  • FIG. 4 shows a graph, corresponding to FIG. 2 , taking into account the present method
  • FIG. 5 a, b show an illustration of a steering-wheel angle and a steering moment of an electromechanical steering system in which the present method is used.
  • FIG. 6 a, b show a graph, corresponding to FIGS. 5 a, b , in the event of another steering maneuver.
  • FIG. 1 schematically illustrates a brushless electric motor 1 of an electromechanical steering device, the windings U, V, W of which motor are actuated by an inverter 2 .
  • the inverter 2 has six switches 11 , 12 , 13 , 14 , 15 , 16 , wherein the upper switches 11 , 12 , 13 in FIG. 1 are associated with the positive supply voltage and the lower switches 14 , 15 , 16 in FIG. 1 are associated with the negative supply voltage.
  • the switches 11 and 14 therefore supply the winding V with a suitable supply voltage.
  • the windings U, V, W are actuated by means of pulse-width-modulated voltage values PWM U , PWM V , PWM W which are predefined by a microcontroller C.
  • PWM U , PWM V , PWM W pulse-width-modulated voltage values
  • PWM W pulse-width-modulated voltage values
  • FIG. 1 there are tapping points 17 , 18 , 19 between the switches 11 , 12 , 13 associated with the positive supply voltage and the switches 14 , 15 , 16 associated with the negative supply voltage, at which tapping points the voltage across the windings U, V, W is tapped off and supplied to a unit B for voltage measurement.
  • the measurement results from the unit B for voltage measurement are supplied to the microcontroller C which, on the one hand, controls the switches 11 , 12 , 13 , 14 , 15 , 16 and, on the other hand, evaluates the information produced by the voltage measurement unit B.
  • an identification unit A is provided, for identifying defective switches 11 , 12 , 13 , 14 , 15 , 16 .
  • the information produced by identification unit A is likewise supplied to the microcontroller C, for evaluation.
  • the switches 11 , 12 , 13 , 14 , 15 , 16 are formed from semiconductor switches, more precisely transistors or MOSFETs.
  • the identification unit A is formed as a bridge driver and applies a voltage across the switches 11 , 12 , 13 , 14 , 15 , 16 , which are formed as transistors, and checks whether the switch position of the transistor changes.
  • the unit B for voltage measurement at the tapping points 17 , 18 , 19 is formed as a voltage divider and determines the duty cycle of a pulse-width-modulated voltage. In this case, the duty cycle corresponds to the quotient of the pulse duration and the period duration.
  • Each switch 11 , 12 , 13 , 14 , 15 , 16 can have in principle two different types of defect, that is to say, after a defect, it is in principle in one of the two states described below: defectively switched off, that is to say blocked in the open switch position, or defectively switched on, that is to say blocked in the closed switch position.
  • a defectively switched-on switch 11 , 12 , 13 , 14 , 15 , 16 is also commonly referred to as a short circuit. Since a defectively switched-on switch 11 , 12 , 13 , 14 , 15 , 16 is essentially critical to the operation of the electromechanical steering device, this fault event is assumed in the following text.
  • the switch 16 which is associated with the winding U, is illustrated as defectively switched on.
  • FIG. 2 shows a graph with measurement values, which was recorded at an electric motor 1 having a defectively switched-on switch 16 .
  • the sinusoidal curve represents the different motor phases of the rotating electric motor 1 .
  • One actuation period is 2 ⁇ or 360°.
  • the lower part of the graph of FIG. 2 shows the induced currents I induced in the three motor windings U, V, W.
  • the upper half shows the torque M motor of the electric motor 1 .
  • the induced currents I induced cause the motor moment M motor to reach a value M brake in an angular range of approximately 180°.
  • the solution of opening a safety switch in the event of a defectively switched-on switch 16 in order to remove the short circuit caused by a switch 16 blocked in the switched-on state, is known from the prior art.
  • a safety switch is arranged, for example, at the star point 3 of the windings U, V, W and is also referred to as star-point relay.
  • the method described here provides that the opening of the star point 3 is dispensed with and that the electric motor 1 continues to operate in an emergency mode.
  • the windings U, V, W are actuated in such a way that a motor moment which is positive on average is produced.
  • an actuation period of the electric motor 1 is subdivided into twelve sectors S 1 to S 12 of 30° in each case.
  • individual sectors are deactivated while the other sectors are used to actuate the windings U, V, W.
  • the lower switch 16 of the winding U is defectively switched on and four sectors S 1 , S 2 , S 11 , S 12 for actuating the windings U, V, W are deactivated, while the other eight sectors S 3 to S 10 are used to actuate the windings U, V, W.
  • the passive sectors S 1 , S 2 , S 11 , S 12 are not used for actuation since actuating the windings U, V, W in these sectors would further increase the braking effect of the braking moment acting counter to the intended direction of operation of the electric motor 1 .
  • those sectors in which the defective switch would also be switched on, that is to say closed, in the normal mode of the electric motor 1 are active.
  • those are the sectors S 3 to S 10 in the left half-plane. This can be seen from the initial zeroes in the labels 010, 011 and 001, where the first digit represents winding U and a zero means that the lower switch 16 is switched-on, that is to say it is closed.
  • the two sectors S 10 and S 3 which are directly adjacent in each case are used to actuate the windings.
  • the two switches 13 , 16 of the switch pair with a defect are no longer actuated.
  • the remaining four switches 11 , 12 , 14 , 15 of the switch pairs 11 , 14 ; 12 , 15 are actuated in the eight active sectors S 3 to S 10 according to a previously defined scheme.
  • the actuation scheme is dependent on the direction of rotation of the electric motor 1 .
  • the actuation scheme can be changed depending on the operating state of the system, for instance vehicle speed, steering-wheel angle, rotational speed of the vehicle drive motor and the on-board power supply voltage.
  • defined voltage values are applied across the windings V and W via the switches of the inverter 2 .
  • FIG. 4 shows the effect of this sector-by-sector actuation of the windings U, V, W.
  • the sinusoidal curve shows the motor rotation.
  • the negative motor moment M brake is compensated by the additional supporting motor moment M add , which is obtained by the actuation in the active sectors S 3 to S 10 , to such an extent that the motor moment M motor is positive overall.
  • the positive average motor moment M motor shown in the graph of FIG. 4 is represented by negative values in this case.
  • FIGS. 5 a and 6 a show in each case the steering-wheel angle which is applied to the steering wheel by the vehicle operator, while FIGS. 5 b and 6 b show the steering moment.
  • time is represented on the X-axis.
  • the dashed line represents the steering-wheel angle or the steering moment when the star point 3 is open, while the continuous line represents the same values in accordance with the above-described method.
  • the lower switch 16 of the winding U is again assumed to be defectively switched on.
  • the steering maneuver shown in FIG. 5 a, b corresponds to steering on a circular track at a vehicle speed of 10 km/h and a radius of 20 m. It can be seen from FIG. 5 a that in both cases the vehicle operator steers at approximately the same speed on the circular track.
  • FIG. 5 b shows the steering moment experienced by the vehicle operator at the steering wheel.
  • the dashed line is the steering moment in the event of an open star point 3 . It can clearly be seen that the steering moment which is represented by the continuous line and which is realized in accordance with the method described here experiences significant support from the electric motor 1 . Despite the interior braking moment, a positive motor moment is achieved by means of the described control.
  • FIG. 6 a, b show the steering-wheel angle and the steering moment in the event of a slalom movement of the motor vehicle.
  • the vehicle operator turns the steering wheel approximately 100° to the left and approximately 100° to the right during this slalom movement.
  • the steering moment when the star point is open, shown in FIG. 6 b with the dashed line (red), is more regular than the steering moment experienced by the vehicle operator in the case of the method described here. Both steering moments are approximately equal in size.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
US13/634,039 2010-03-23 2011-03-23 Method for operating a brushless electric motor Active 2031-12-26 US9041326B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102010003149 2010-03-23
DE102010003149 2010-03-23
DE102010003149.6 2010-03-23
PCT/EP2011/054477 WO2011117311A2 (de) 2010-03-23 2011-03-23 Verfahren zum betrieb eines bürstenlosen elektromotors

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US20130193885A1 US20130193885A1 (en) 2013-08-01
US9041326B2 true US9041326B2 (en) 2015-05-26

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US (1) US9041326B2 (de)
EP (1) EP2550734B1 (de)
JP (1) JP5858980B2 (de)
KR (1) KR101422380B1 (de)
CN (1) CN102934357B (de)
DE (1) DE102011005973A1 (de)
WO (1) WO2011117311A2 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170179844A1 (en) * 2014-06-20 2017-06-22 Technische Universitaet Braunschweig Electronic Power Converter and Computer Program

Families Citing this family (5)

* Cited by examiner, † Cited by third party
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DE102010033440B4 (de) * 2010-08-04 2013-10-24 Thyssenkrupp Presta Aktiengesellschaft Verfahren und Vorrichtung zur Sicherheitsabschaltung einer elektromechanischen Servolenkung
DE102011085657A1 (de) * 2011-11-03 2013-05-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben einer elektronisch kommutierten elektrischen Maschine in einem Fehlerfall
DE102011121602A1 (de) * 2011-12-17 2013-06-20 Volkswagen Aktiengesellschaft Notlaufbetriebsverfahren eines Fahrzeuglenksystems
CN106208822B (zh) * 2016-08-04 2019-02-05 库顿电子科技（厦门）有限公司 一种带制动的三相电机正反转控制器及制动方法
CN117713579B (zh) * 2024-02-05 2024-04-26 四川大学 一种用于开绕组电机的混合逆变器及其调制方法

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170179844A1 (en) * 2014-06-20 2017-06-22 Technische Universitaet Braunschweig Electronic Power Converter and Computer Program
US10340813B2 (en) * 2014-06-20 2019-07-02 Technische Universität Braunschweig Electronic power converter and computer program

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JP2013523078A (ja) 2013-06-13
WO2011117311A2 (de) 2011-09-29
KR20120136400A (ko) 2012-12-18
EP2550734A2 (de) 2013-01-30
EP2550734B1 (de) 2019-05-08
JP5858980B2 (ja) 2016-02-10
CN102934357A (zh) 2013-02-13
DE102011005973A1 (de) 2011-09-29
CN102934357B (zh) 2016-10-05
US20130193885A1 (en) 2013-08-01
KR101422380B1 (ko) 2014-07-22
WO2011117311A3 (de) 2012-07-26

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